Abstract: The present disclosure relates to a method for straight edge detection by a robot and a method for reference wall edge selection by a cleaning robot. The method for straight edge detection by the robot includes that: position coordinates of detection points are determined according to distance values detected by a distance sensor of the robot and angle values detected by an angle sensor of the robot, and then a final straight edge is determined according to a slope of a straight line formed by adjacent two of the detection points.

Abstract: The disclosure discloses a control device for a robot to tease a pet and a mobile robot. The primary sensor is configured to continuously collect a preset number of frames of pet motion images in each motion cycle. The state recognizer is configured to judge the matching between the pet motion images continuously collected by the primary sensor and a pre-stored digital image of pet behavior, and then parse a matching result into behavior state parameters of a pet. The behavior interferometer is configured to adjust and control a behavior state of the pet according to the behavior state parameters and an additional road sign image provided by the secondary sensor. The laser projector is configured to project a laser beam to form a structural light spot, so that the pet changes toward the behavior state adjusted by the behavior interferometer.

Abstract: The disclosure discloses a historical map utilization method based on a vision robot, including: S1, the vision robot is controlled to continuously collect image of a preset road sign of a preset working area, and road sign information of the preset road sign is obtained; S2, the obtained road sign information is transmitted to a first map positioning system and a second map positioning system; S3, the first map positioning system and the second map positioning system are controlled to respectively process corresponding road sign information, thereby obtaining first pose information and second pose information; S4, the first pose information and the second pose information under the same preset road sign are selected, and a transformation relationship formula of the first pose information and the second pose information is calculated; and S5, the historical map is controlled to perform a corresponding transformation operation, and subsequent motion control is performed.

Abstract: A control method for carpet drift in robot motion, a chip, and a cleaning robot are disclosed. The control method includes: performing fusion calculation on a current position coordinate of the robot according to data sensed by a sensor every first preset time, calculating amount of drift, relative to a preset direction, of the robot, according to a relative position relationship between a current position and an initial position of the robot, and accumulating to obtain a drift statistical value; and calculating the number of acquisitions of the position coordinate within a second preset time, averaging to obtain a drift average value, determining a state of the robot deviating from the preset direction according to the drift average value, and setting a corresponding Proportion Integration Differentiation (PID) proportionality coefficient to synchronously adjust speeds of left and right drive wheels of the robot while reducing a deviation angle of the robot.

Abstract: The invention discloses a cleaning partition planning method for robot walking along the boundary, a chip and a robot. According to the cleaning partition planning method, a complete global map does not needed to be prestored in advance, but an initial room cleaning partition of the robot is divided in real time in a predefined cleaning area according to map image pixel information obtained by laser scanning in the process of walking along the boundary, meanwhile, the initial room cleaning partition of the robot is expanded by repeated iterative processing of the wall boundary of an uncleaned area in the same predefined cleaning area.

Abstract: A map update control method and a map update control system for a vision robot are disclosed. The map update control method includes the following steps: S1, measured data of the map attributes is acquired; S2, when it is detected that the vision robot completes a traversal of the preset working region, whether the current map and a prestored historical map meet a preset matching degree is judged according to the map attribute measured data, in a case that the current map and the prestored historical map meet the preset matching degree, it is determined to store the current map; and S3, when it is determined to store information of the map attributes corresponding to the current map, the information of the map attributes corresponding to the current map is written in a map storage medium, to update information of the map attributes corresponding to the historical map.

Abstract: The present disclosure relates to a method for detecting a skidding of a robot, a mapping method and a chip. A method for detecting a skidding of a robot, comprising the following steps: By an odometer on existing driving wheels of a robot and a gyroscope and a processor in a body of the robot, a first angle change rate generated by two driving wheels within a preset time and a second angle change rate generated by the gyroscope within the preset time are detected and calculated, so as to determine an angular velocity change error rate of the robot. Finally, by judging whether the angular velocity change error rate is greater than or equal to a preset value, it is determined whether the robot is in the skidding state.

Abstract: Disclosed are a Pulse Width Modulation (PWM) generation circuit, a processing circuit and a chip. The PWM generation circuit is used for controlling a rotation speed of an external motor system. The PWM generation circuit includes a second clock prescaler and a PWM signal generator. A frequency division output end of the second clock prescaler is connected to a data input end of the PWM signal generator. The PWM signal generator includes an output frequency divider and a comparator. A clock output end of the output frequency divider is connected to a comparison input end of the comparator. By means of the technical solution, PWM signals with different duty ratios.

Abstract: A method for controlling cleaning of a robot, a chip and a robot cleaner. In the method for controlling cleaning of a robot, when the robot is located at a position of a charging base, the robot is controlled to clean a preset region around the charging base first, and then a cleaning restricted zone is formed, such that the robot will not enter the restricted zone in the subsequent cleaning process.

Abstract: Disclosed is a hardware acceleration based automatic read control system and method for a serial peripheral interface (SPI). The automatic read control system includes an SPI module, an advanced peripheral bus (APB) module, an interrupt generation module, a direct memory access (DMA) controller, a state schedule control module, a register group module, a count signal generation module, a transmitted data buffer and a received data buffer; the state schedule control module, the register group module and the count signal generation module form a state machine system; and the state schedule control module controls automatic timed batch read of sensor data of the SPI according to configuration information of the register group module and counting and timing information of the count signal generation module.

Abstract: Disclosed are a control signal pulse width extraction-based phase-locked acceleration circuit and a phase-locked loop system, the phase-lock acceleration circuit includes a pulse width extraction control circuit and a current injection switch module; the control output terminal of the pulse width extraction control circuit is connected to the current injection control terminal of the current injection switch module, and the stepping current control terminal of the current injection switch module and the driving input terminal of the pulse width extraction control circuit are both connected to the preset control signal output end of a phase frequency detector for use in controlling, according to pulse width changes of signals outputted by the preset control signal output end, the current injection switch module to inject charges until the phases of a reference clock signal and feedback clock signal inputted by the phase frequency detector are synchronized.

Abstract: A robot repositioning method is provided. A position deviation caused by excessive accumulation of a walking error of a robot may be corrected to implement repositioning by taking a path that the robot walks along an edge of an isolated object as a reference, so that the positioning accuracy and walking efficiency of the robot during subsequent navigation and walking are improved.

Abstract: The disclosure relates to a method for predicting and controlling robot walking. The method includes the following steps: constructing a grid map based on grid units marked with a status; establishing a dynamic detection model with a current location of a robot as a reference point based on the grid map; predicting a forward path condition of the robot based on the dynamic detection model; and controlling a walking mode of the robot based on the prediction result.

Abstract: The disclosure relates to a method for monitoring a pet by a robot based on a grid map and a chip. A mutual position relationship between the pet and the robot is determined through wireless communication between a wireless signal device on the pet and the robot, and then whether there is an obstacle cell or not between grid cells where the robot and the pet are located in the grid map is judged. If NO, it is indicated that the pet may be effectively shot at a present position and shooting direction of the robot, and the present position and shooting direction of the robot are not required to be changed. If YES, it is indicated that no pet but an obstacle may be shot at the present position of the robot.

Abstract: Disclosed are an acceleration control system based on a binarization algorithm, a chip, and a robot, which is configured to read and write an external image memory by means of an AHB bus. The acceleration control system includes a main control module, a binarization module, and a binarization FIFO module, and the main control module is configured to control the AHB bus to read pixel data to be processed in the image memory and control current pixel data in the AHB bus to be burst-transmitted to the binarization module for processing when a main state machine is in a burst read mode state, and meanwhile control the binarization FIFO module to read binarized data obtained and when all of the pixel data stored in the image memory is processed, and it is notified to send an interrupt instruction to a CPU.

Abstract: The present disclosure provides an intelligent pet monitoring method for a robot. A mutual position relationship between a pet and a robot is determined according to wireless communication between a wireless signal device on the pet and the robot, and then a grid position corresponding to the pet in a grid map constructed by the robot is determined according to the mutual position relationship. Daily activities of the pet may also be regular, to a certain extent, under the influence of a biological clock of the pet, so that big data generated by the grid positions of the pet at different time points is finally recorded to construct the pet daily activity model, and the daily activity trajectory of the pet may be predicted according to the pet daily activity model.

Abstract: The disclosure relates to a video monitoring method for mobile robot. The method includes the following steps: providing one or more private area on a basis of a map constructed by a mobile robot; determining, on a basis of a position of the mobile robot and an image shot from a shooting angle of a camera, whether an image shot currently contains private contents; if the image shot currently contains private contents, shielding the private contents contained in the image; and if the image shot currently is not containing private contents, continuing monitoring the mobile robot. By providing one or more private area in a map constructed by a mobile robot, the mobile robot can determine whether a shot image contains private contents during the subsequent video monitoring process, so as to shield the private contents in the image, thereby ensuring the security in video monitoring of the mobile robot, and avoiding privacy leakage.

Abstract: A method for controlling a motion of a robot based on map prediction mainly carries out estimation and calculation for a wall surface by combining an external sensor with internal map information about a robot, so as at least to enable the robot to walk along the estimated wall surface. The method for controlling the motion of the robot based on map prediction can be adapted to various different wall surfaces based on map prediction, including different colors and shapes, thereby reducing an operation time; and the accuracy of map prediction can be continuously corrected during an operation process, thereby realizing a good wall-following behavior.